version: 66.04
glider: 167
mission: 2
dive: 550
start: 8 23 109 14 56 51
data:
$ID,167
$MISSION,2
$DIVE,550
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20033.266
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2383
$C_ROLL_CLIMB,2365
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.600696
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,145000,2519.740,12236.402,38,1.4,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-70.5
$GPS2,145631,2519.610,12236.529,12,2.0,17,-3.7
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.158
$KALMAN_X,11863.0,1074.4,313.9,-12549.1,1366.5
$KALMAN_Y,11194.8,508.1,444.1,-2876.3,1519.9
$MHEAD_RNG_PITCHd_Wd,321.1,21716,-25.0,-13.200
$D_GRID,607
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.50,-121.7,0.0,0.0,0,49,0.00,0.00,-28.60,0.000,2,0.000,0.000,138,2392,2279
$GC,53,-1.50,-121.7,3.2,-1.8,5,122,8.18,2.20,-55.20,0.000,4,0.237,0.055,2081,3763,3989
$GC,366,-0.86,-121.7,99.8,-20.3,59,374,0.77,2.00,0.00,0.000,6,0.174,0.023,2296,2361,3992
$GC,715,-1.01,-121.7,145.1,-13.2,120,721,0.12,2.20,0.00,0.000,4,0.077,0.045,2234,3766,3996
$GC,890,-0.84,-121.7,179.2,-21.3,150,896,0.25,1.95,0.00,0.000,6,0.165,0.024,2303,2394,3996
$GC,1238,-1.10,-121.7,235.7,-14.6,211,1245,0.20,0.00,0.00,0.000,6,0.066,0.000,2216,2394,3997
$GC,1583,-1.06,-121.7,306.2,-19.7,269,1587,0.00,2.15,0.00,0.000,4,0.000,0.046,2205,3770,3997
$GC,1690,-0.99,-121.7,326.4,-17.3,278,1696,0.20,1.95,0.00,0.000,6,0.157,0.024,2260,2403,3997
$GC,2017,-1.11,-121.7,365.4,-13.0,309,2022,0.12,2.15,0.00,0.000,4,0.081,0.048,2207,3765,3997
$GC,2079,-0.99,-121.7,376.3,-18.6,314,2085,0.20,1.95,0.00,0.000,6,0.162,0.024,2261,2408,3997
$GC,2405,-1.15,-121.7,415.7,-11.5,345,2410,0.15,2.15,0.00,0.000,4,0.076,0.048,2192,3768,3997
$GC,2591,-1.02,-121.7,447.8,-19.2,361,2595,0.20,1.95,0.00,0.000,6,0.166,0.025,2245,2419,3997
$GC,2922,-1.16,-121.7,493.2,-12.5,392,2927,0.12,2.10,0.00,0.000,4,0.081,0.049,2193,3756,3995
$GC,3013,-1.07,-121.7,508.1,-16.5,398,3018,0.15,1.95,0.00,0.000,6,0.170,0.025,2230,2433,3995
$GC,3350,-1.17,-121.7,556.8,-14.4,414,3354,0.00,2.10,0.00,0.000,4,0.000,0.048,2222,3763,3994
$GC,3468,-1.17,-121.7,575.7,-17.1,419,3471,0.00,1.90,0.00,0.000,6,0.000,0.026,2222,2452,3993
$STATE,3654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3654,begin apogee
$GC,3662,-0.27,0.0,608.8,17.6,428,3759,0.90,0.00,93.07,1.113,6,0.157,0.000,2486,2450,3532
$STATE,3760,end apogee,CONTROL_FINISHED_OK
$STATE,3760,begin climb
$GC,3763,1.50,121.7,615.4,0.0,433,3871,1.60,2.30,98.68,1.080,4,0.065,0.030,3068,976,3035
$GC,4125,0.87,121.7,594.4,13.2,449,4130,0.82,2.15,0.00,0.000,6,0.218,0.035,2863,2376,3031
$GC,4448,0.81,181.0,565.3,8.9,465,4499,0.00,2.22,46.35,1.062,4,0.000,0.048,2863,3758,2795
$GC,4719,0.66,181.0,522.7,18.8,477,4724,0.30,2.03,0.00,0.000,6,0.184,0.026,2792,2389,2791
$GC,5051,0.88,185.4,473.6,12.9,501,5063,0.17,2.15,4.38,0.719,4,0.080,0.032,2869,964,2776
$GC,5136,0.88,185.4,459.9,15.0,508,5143,0.00,2.17,0.00,0.000,6,0.000,0.032,2868,2392,2775
$GC,5466,0.89,193.1,414.3,12.6,539,5479,0.00,2.22,7.53,0.877,4,0.000,0.051,2868,3764,2744
$GC,5734,0.80,244.6,383.7,9.5,562,5785,0.15,2.03,42.25,0.977,6,0.190,0.027,2842,2384,2533
$GC,6104,1.03,296.3,352.7,9.5,597,6152,0.17,2.20,41.92,0.944,4,0.077,0.032,2924,987,2324
$GC,6194,1.07,296.3,340.5,14.9,605,6198,0.00,2.17,0.00,0.000,6,0.000,0.033,2924,2392,2320
$GC,6526,1.07,296.3,287.1,14.4,643,6533,0.00,2.15,0.00,0.000,4,0.000,0.051,2924,3754,2316
$GC,6636,0.97,296.3,268.4,17.5,662,6643,0.17,2.00,0.00,0.000,6,0.183,0.027,2888,2401,2315
$GC,6983,1.08,296.3,214.1,16.6,723,6990,0.10,2.12,0.00,0.000,4,0.092,0.031,2935,974,2314
$GC,7127,1.08,296.3,191.7,14.4,748,7133,0.00,2.17,0.00,0.000,6,0.000,0.036,2935,2394,2314
$GC,7473,1.09,308.4,145.3,12.3,809,7491,0.00,2.17,9.48,0.746,4,0.000,0.030,2942,980,2273
$GC,7545,1.11,324.8,137.1,12.0,821,7564,0.00,2.15,14.55,0.762,6,0.000,0.032,2942,2389,2207
$GC,7905,1.12,330.2,84.1,12.8,884,7917,0.00,2.15,5.45,0.613,4,0.000,0.048,2942,3763,2186
$GC,8079,1.07,346.9,62.8,12.0,914,8098,0.00,2.00,15.10,0.704,6,0.000,0.025,2951,2401,2117
$GC,8438,1.28,385.1,21.5,10.4,977,8475,0.12,2.15,30.60,0.677,4,0.081,0.030,3008,974,1960
$GC,8490,1.38,423.4,16.6,10.4,985,8531,0.00,2.20,31.27,0.657,6,0.000,0.033,3009,2406,1805
$STATE,8585,end climb,SURFACE_DEPTH_REACHED
$STATE,8585,begin surface coast
$FINISH,1.9,1.009379
$STATE,8606,end surface coast,CONTROL_FINISHED_OK
$STATE,8606,begin surface
$SM_CCo,8626,39.03,0.648,0,0,1594,475.15
$SM_GC,3.34,0.00,0.00,39.03,0.000,0.000,0.648,136,2410,1594,-7.64,0.76,475.15
$IRIDIUM_FIX,2510.35,12235.95,171198,121206
$TT8_MAMPS,0.029146
$HUMID,1839
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.60
$XPDR_PINGS,4
$24V_AH,23.4,96.146
$10V_AH,10.6,50.561
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.075,71.625,440.625,39.025,0.000,23.187,37.953,174.189,5.500,0.000,0.000,17.665,1740.735,4413.177,543.628,1798.947,557.111,0.000,1460.811,0.000,1749.806,0.000,32.364,0.000
$DEVICE_MAMPS,237.003,55.224,1112.917,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.339,736.254,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53734,1005
$CAP_FILE_SIZE,102293,0
$CFSIZE,260165632,182177792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,219.3,1
$GPS,230809,172236,2519.872,12235.396,37,1.0,37,-3.6